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CCS/PROCESSOR-SDK-AM65X: PRU eQEP example

user6090701
Prodigy 190 points
Part Number: PROCESSOR-SDK-AM65X

Tool/software: Code Composer Studio

Hi

I want to use the eQEP module in the PRU core to get real-time position feedback. In my environment, the A53 is running the Linux. And PRU for real-time control.

How to use the eQEP module in the PRU core . Where can i get the example to get start ? Thanks.

Best Regards,

Jerry

  • 0
    TI__Guru** 101220 points

    Hello Jerry,

    Note that the eQEP is in its own separate module outside of the PRU-ICSSG. However, you can use a core from the ICSSG to control the eQEP module.

    Please see Melissa's note about eQEP access latencies in the post QEP Input to PRU.

    We do not currently have examples of PRU controlling eQEP on the AM65x.  However, we do have a TI design that demonstrates PRU control of eQEP on AM335x: Simple PID Control Reference Design With PRU®-ICSS Through Web Interface. The Linux code may or may not still work on current SDKs, but hopefully the PRU firmware code is a useful reference.

    Regards,

    Nick

  • 0 in reply to Nick Saulnier
    Prodigy 190 points

    Hi Nick,


    I have found the PRU core use the the "sys_pwmss.h" to access the eQEP in the "Simple PID Control Reference Design With PRU®-ICSS Through Web Interface".

    But for am65x, there is no related including files. So what register headers file can be used for am65x to access eQEP?

    Thanks.


    Best Regards,
    Jerry

  • 0 in reply to user6090701
    TI__Guru** 101220 points

    Hello Jerry,

    At this point in time, we have not generated PRU header files for AM65x registers. However, you can still write to the direct register values.

    e.g., AM65x memory map places EQEP0_REG at 0x320_0000 in the main domain. so you could do a PRU write to 0x3200000 to set EQEP0 register EQEP_QPOSCNT, etc.

    Regards,

    Nick